System and method of asynchronous robotic retrieval and delivery of items

ABSTRACT

Asynchronous item delivery utilizes a depot and a mobile robot. A method includes (1) receiving a specification by a user of a destination depot and an item, (2) selecting, based on item delivery data and by a depot control system, a drawer from a rack module in a depot that houses drawers, (3) receiving the item from the user via the depot user interface, (4) communicating the item to the drawer within the rack module that houses drawers, communicating, from the depot and to a mobile robot, a message to pick up the item, (5) swapping a first battery on the mobile robot with a second batter charged by the depot, (6) transferring the item from the drawer in the depot to the mobile robot using a depot drawer-swapping module and a mobile robot drawer-swapping module and (7) delivering, by the mobile robot, the item to the destination depot.

PRIORITY INFORMATION

The present application is a continuation of U.S. patent applicationSer. No. 16/035,201, filed Jul. 13, 2018, the contents of which areincorporated herein by reference in its entirety.

The present technology pertains to robotics and more specifically to asystem and method of providing asynchronous robotic retrieval anddelivery of items utilizing a depot and a mobile robot.

BACKGROUND

An estimated 30%-46% of hospital budgets are spent on logisticsactivities such as moving medications, supplies, devices, charts, andsurgical instruments through the supply chain to where they are neededat the point of care. At the same time nurses are only able to spendapproximately 31% of their day on direct patient care due tonon-value-added logistics and administrative responsibilities. Inaddition, the downstream cost of ineffective logistics is enormous aspatient safety issues often result when the right medication isn'tavailable or when staff are unavailable or continually interrupted bypoor processes.

Similar issues can exist in any organization that deploys a supply chainto move items from one location to another. The human attention thatneeds to be paid to the supply chain processes will always drawattention away from other potentially more valuable activities.

What is needed is an improved system to enable staff at hospitals orstaff at other entities to spend more time on more valuablehuman-related activities such as direct patient care.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe the manner in which the above-recited and otheradvantages and features of the disclosure can be obtained, a moreparticular description of the principles briefly described above will berendered by reference to specific embodiments thereof which areillustrated in the appended drawings. Understanding that these drawingsdepict only exemplary embodiments of the disclosure and are nottherefore to be considered to be limiting of its scope, the principlesherein are described and explained with additional specificity anddetail through the use of the accompanying drawings in which:

FIG. 1 illustrates an example computing device for use an any componentdisclosed herein;

FIG. 2 illustrates an example mobile robot which is part of theasynchronous delivery system disclosed herein;

FIG. 3 illustrates a depot and a mobile robot for providing theasynchronous delivery system disclosed herein;

FIG. 4 illustrates a rack module and a swapping mechanism between therack module and the mobile robot in the asynchronous delivery systemdisclosed herein;

FIG. 5 illustrates a diagram of synchronous loading and delivery ofitems;

FIG. 6 illustrates a diagram of asynchronous loading and delivery ofitems according to the asynchronous delivery system;

FIG. 7 illustrates communication aspects for the asynchronous deliverysystem;

FIG. 8 illustrates power and control components of the asynchronousdelivery system disclosed herein;

FIG. 9 illustrates an example battery and battery slot configuration;

FIG. 10 illustrates a top view of a depot and rack module for moving andpositioning drawers within the depot;

FIG. 11 illustrates a method embodiment in which both the depot and themobile robot are part of the same asynchronous delivery system;

FIG. 12 illustrates a method embodiment from the standpoint of thedepot; and

FIG. 13 illustrates a method embodiment from the standpoint of themobile robot.

DESCRIPTION OF EXAMPLE EMBODIMENTS

Various embodiments of the disclosure are discussed in detail below.While specific implementations are discussed, it should be understoodthat this is done for illustration purposes only. A person skilled inthe relevant art will recognize that other components and configurationsmay be used without parting from the spirit and scope of the disclosure.Thus, the following description and drawings are illustrative and arenot to be construed as limiting. Numerous specific details are describedto provide a thorough understanding of the disclosure. However, incertain instances, well-known or conventional details are not describedin order to avoid obscuring the description. References to one or anembodiment in the present disclosure can be references to the sameembodiment or any embodiment; and, such references mean at least one ofthe embodiments.

Reference to “one embodiment” or “an embodiment” means that a particularfeature, structure, or characteristic described in connection with theembodiment is included in at least one embodiment of the disclosure. Theappearances of the phrase “in one embodiment” in various places in thespecification are not necessarily all referring to the same embodiment,nor are separate or alternative embodiments mutually exclusive of otherembodiments. Moreover, various features are described which may beexhibited by some embodiments and not by others.

The terms used in this specification generally have their ordinarymeanings in the art, within the context of the disclosure, and in thespecific context where each term is used. Alternative language andsynonyms may be used for any one or more of the terms discussed herein,and no special significance should be placed upon whether or not a termis elaborated or discussed herein. In some cases, synonyms for certainterms are provided. A recital of one or more synonyms does not excludethe use of other synonyms. The use of examples anywhere in thisspecification including examples of any terms discussed herein isillustrative only, and is not intended to further limit the scope andmeaning of the disclosure or of any example term. Likewise, thedisclosure is not limited to various embodiments given in thisspecification.

Without intent to limit the scope of the disclosure, examples ofinstruments, apparatus, methods and their related results according tothe embodiments of the present disclosure are given below. Note thattitles or subtitles may be used in the examples for convenience of areader, which in no way should limit the scope of the disclosure. Unlessotherwise defined, technical and scientific terms used herein have themeaning as commonly understood by one of ordinary skill in the art towhich this disclosure pertains. In the case of conflict, the presentdocument, including definitions will control.

Additional features and advantages of the disclosure will be set forthin the description which follows, and in part will be obvious from thedescription, or can be learned by practice of the herein disclosedprinciples. The features and advantages of the disclosure can berealized and obtained by means of the instruments and combinationsparticularly pointed out in the appended claims. These and otherfeatures of the disclosure will become more fully apparent from thefollowing description and appended claims, or can be learned by thepractice of the principles set forth herein.

While the concepts disclosed herein can apply to any supply chainmanagement, the primary entity which will be discussed is a hospital inwhich medicine, medical instruments, and other items are constantlybeing delivered. However, this disclosure applies to any organizationthat requires items to be delivered from an originating location withinthe organization to a destination.

Currently, when a medication delivery robot arrives at a destination, itwill page a nurse to come and unload it, interrupting the nurse'spatient care and preventing the robot from moving to its next deliveryuntil it has been unloaded. This disclosure presents a novel, modular,platform-independent drawer swapping unit that overcomes theselimitations. Instead of staff waiting for the robot, staff can pick upand drop off materials any time at a conveniently located depot orrepository. Using the depot allows staff to devote more time to patientcare, while minimal direct contact with the delivery robots will reducethe frustration commonly experienced with current hospital robotsystems. Medication errors, especially omitted, missed or wrong-timedoses, will be reduced through improved availability of medication in aunit. Freed from the burden of interruptions common to directinteraction with current delivery robots, pharmacists and nurses willexperience less stress and make fewer mistakes.

The disclosed technology addresses the need in the art for an itemdelivery system that can be applicable in environments such as hospitalswhich enables a more efficient access and delivery of items used in thehospital such that staff can spend more time with patients.

Overview

The present disclosure addresses the deficiencies in robotic retrievaland delivery systems which can be applicable to environments such ashospitals, warehouses, and so forth. In one example, the concepts caninclude an asynchronous item delivery system including a depot and amobile robot working together to provide asynchronous receipt anddelivery of items. The depot can include a depot user interface, a rackmodule that houses drawers, a depot drawer-swapping module, a depotbattery-swapping module and a depot control system that connects to andcontrols the depot user interface and the rack module, the depotbattery-swapping module and the depot drawer-swapping module.

A mobile robot can include a mobile robot drawer-swapping module, amobile robot battery-swapping module and a mobile control system thatconnects and controls the mobile robot drawer-swapping module and themobile robot battery-swapping module. The depot and the mobile robotoperate in a coordinated manner to asynchronously deliver an item fromthe originating depot that receives the item from a staff member to adestination depot by performing operations including receiving, at thedepot and via the depot user interface, a specification by a user of thedestination depot and the item to yield item delivery data, selecting,based on item delivery data and the by the depot control system, adrawer from the rack module that houses drawers, receiving the item fromthe user via the depot user interface, communicating the item to thedrawer from the rack module that houses drawers, communicating, from thedepot and to the mobile robot, a message to pick up the item, optionallyswapping a first battery on the mobile robot with a second battercharged by the depot via the depot battery-swapping module and themobile robot battery-swapping module, transferring the item from thedrawer in the depot to the mobile robot using the depot drawer-swappingmodule and the mobile robot drawer-swapping module and delivering, bythe mobile robot, the item to the destination depot.

The depot can receive and provide a mechanism for scanning the itembefore receiving the item in the drawer. The system can also compile amanifest for each drawer in the rack module that houses the drawers. Themanifest can include one or more of an identification of the drawer,items in the drawer, the destination, and instructions for delivery ofthe item. After receiving the item in the drawer, the depot can routethe drawer to a chosen position in the rack module in preparation forretrieval by the mobile robot. Delivering, by the mobile robot, the itemto the destination depot can be performed using machine learning toschedule one of a route, a timing and a pace of delivering the item tothe destination depot. The system can include a single mobile robot ormultiple mobile robots operating to retrieve and deliver items.

The disclosure also includes system embodiments from the standpoint ofthe depot, only as well as the mobile robot only. In another aspect, thedepot and the mobile robot communicate with each other and with acentralized server to coordinate movement, item pickup, mobile robotrouting and scheduling through the environment and so forth. The systemcan perform any one or more of the steps disclosed herein and in anyorder.

A method embodiment includes one or more of the following steps, in anyorder: (1) receiving, at a depot and via a depot user interface, aspecification by a user of a destination depot and an item to yield itemdelivery data, (2) selecting, based on item delivery data and by a depotcontrol system, a drawer from a rack module in the depot that housesdrawers, (3) receiving the item from the user via the depot userinterface, (4) communicating the item to the drawer within the rackmodule that houses drawers, (5) communicating, from the depot and to amobile robot, a message to pick up the item, (6) swapping a firstbattery on the mobile robot with a second batter charged by the depotvia a depot battery-swapping module and a mobile robot battery-swappingmodule, (7) transferring the item from the drawer in the depot to themobile robot using a depot drawer-swapping module and a mobile robotdrawer-swapping module and (8) delivering, by the mobile robot, the itemto the destination depot.

Detailed Description

The disclosure now turns to FIG. 1, which illustrates an examplecomputing system including various hardware components, which can beused to implement the system, depot, robot, server, communicationdevice, or any other computing device disclosed herein.

In this example, FIG. 1 illustrates a computing system architecture 100including components in electrical communication with each other using aconnection 105, such as a bus. System 100 includes a processing unit(CPU or processor) 110 and a system connection 105 that couples varioussystem components including the system memory 115, such as read onlymemory (ROM) 120 and random access memory (RAM) 125, to the processor110. The system 100 can include a cache of high-speed memory connecteddirectly with, in close proximity to, or integrated as part of theprocessor 110. The system 100 can copy data from the memory 115 and/orthe storage device 130 to the cache 112 for quick access by theprocessor 110. In this way, the cache can provide a performance boostthat avoids processor 110 delays while waiting for data. These and othermodules can control or be configured to control the processor 110 toperform various actions. Other system memory 115 may be available foruse as well. The memory 115 can include multiple different types ofmemory with different performance characteristics. The processor 110 caninclude any general purpose processor and a hardware or softwareservice, such as service 1 132, service 2 134, and service 3 136 storedin storage device 130, configured to control the processor 110 as wellas a special-purpose processor where software instructions areincorporated into the actual processor design. The processor 110 may bea completely self-contained computing system, containing multiple coresor processors, a bus, memory controller, cache, etc. A multi-coreprocessor may be symmetric or asymmetric.

To enable user interaction with the computing device 100, an inputdevice 145 can represent any number of input mechanisms, such as amicrophone for speech, a touch-sensitive screen for gesture or graphicalinput, keyboard, mouse, motion input, speech and so forth. An outputdevice 135 can also be one or more of a number of output mechanismsknown to those of skill in the art. In some instances, multimodalsystems can enable a user to provide multiple types of input tocommunicate with the computing device 100. The communications interface140 can generally govern and manage the user input and system output.There is no restriction on operating on any particular hardwarearrangement and therefore the basic features here may easily besubstituted for improved hardware or firmware arrangements as they aredeveloped.

Storage device 130 is a non-volatile memory and can be a hard disk orother types of computer readable media which can store data that areaccessible by a computer, such as magnetic cassettes, flash memorycards, solid state memory devices, digital versatile disks, cartridges,random access memories (RAMs) 125, read only memory (ROM) 120, andhybrids thereof.

The storage device 130 can include services 132, 134, 136 forcontrolling the processor 110. Other hardware or software modules arecontemplated. The storage device 130 can be connected to the systemconnection 105. In one aspect, a hardware module that performs aparticular function can include the software component stored in acomputer-readable medium in connection with the necessary hardwarecomponents, such as the processor 110, connection 105, output device135, and so forth, to carry out the function.

For clarity of explanation, in some instances the present technology maybe presented as including individual functional blocks includingfunctional blocks comprising devices, device components, steps orroutines in a method embodied in software, or combinations of hardwareand software.

The systems and methods disclosed herein address the problem of wastedtime by individuals within an organization or workplace environment inwhich items need to be deposited at a location and then later deliveredto another location. The system disclosed herein can apply to anyenvironment in which individuals deposit an item at a location andwherein the item then needs to be delivered to a second location. Oneexample of such an environment is the hospital in which medications andsupplies are routinely being distributed throughout the environment.While the examples provided herein will primarily relate to a hospitalenvironment, it is specifically noted that the principles can apply toany type of environment where items need to be delivered.

Disclosed is a new approach to robotic delivery of medications andsupplies within a hospital environment. The system addresses limitationsof both current human and robotic approaches to delivery and is able tosecurely and autonomously pick up and drop off supplies in a new way.Instead of altering human workflows to accommodate a robot, the robotinstead accommodates humans through its specialized delivery systems.This approach transparently integrates the robots into daily workflow,reducing stress on staff and minimizing the interruptions that oftencause errors. As a result, staff spend less time hunting down suppliesand medications and devote more attention to the care of patients.Infrastructure and associated costs are reduced, flexibility isincreased, and robots can serve a much greater number and variety ofdelivery locations.

The system has been developed using simulation and modeling tools, rapidprototyping and 3D printing, automated mechanical testing, user-centricdesign, and A/B testing.

Logistics robots can provide tremendous return on investment forhospitals by increasing efficiency and maximizing the time staff focuson patient care. However, a barrier to fully unlocking that return oninvestment is “desynchronizing” payload transport by removing the needfor staff to be interrupted throughout the day to load and unload therobot. For example, robots exist such as the QC Bot 200, shown in FIG.2, provided by Vecna Technologies, which is a mobile robot that isdeployable in a hospital and can deliver medicine and/or food topatients. Basic components of the robot 200 include a casing 202 thathouses the various electrical and mechanical components. A scanner 204which can be used to scan barcodes, QR codes, or any other scannabledata. Robot 200 can optionally have handles 206 for better handlingand/or manual movement of robot 200. The system could also utilize a 3Dvision system to recognize boxes. Weights can also be provided orevaluated to determine or identify/confirm an item. Furthermore, thesystem can also utilize display 208 including a multimodal interface ortouch sensitive interface. This can enable staff or patients to interactwith the device 200. A card reader 210 is also shown for an indicationor payment purposes. Drawers 212, 214 can be provided which can housemedicine, supplies or other items. A loading deck 216 can be providedwhich can receive boxes, a person, or other material for movement from afirst location to the second location.

The robot 200 can also include rollers or wheels 218, which can becontrolled by a motor and a controller mechanism. Sensors 220 can bepositioned around the robot 200 for sensing objects which can impede themovement of the robot 200 and enable navigation through an environment.A speaker 222 can be provided for any necessary audio. The presentdisclosure expands upon the use of a robot such as a shown in FIG. 2, toprovide additional functionality. Currently, in the hospitalenvironment, a nurse would manually load, for example, medicine into atray 212 of the robot 200, interface with the user interface 208 orscanner 204 to provide necessary data, at which time the robot 200 woulddeliver the items.

The traditional approach described above can be described as“synchronous” in which the individuals interaction with the robot 200 isessentially synchronous with the delivery of the item received by therobot. As noted herein, the requirement of individuals to load andunload such robots has the resulting impact of interrupting staff anddrawing their attention away from patient care. This can lead to medicalerrors as the number of interruptions from direct patient care canincrease, which may cost the average 700-bed hospital around $2.8billion a year. The innovation disclosed herein focuses on the newability of robots to be able to drop off and pick up items on their own.If the robots were able to act more like a mail carrier and securelydrop off and pick up packages without requiring the sender or recipientto be present, it would remove a major barrier to adoption.

The innovative concept disclosed herein is for “asynchronous” pickup anddropoff of packages by mobile robots to solve this challenging researchissue. In this concept, medication, devices, specimens, surgicalinstruments, records, and other objects will be loaded into secureboxes, and deposited into an automated repository. This general system300 is disclosed in FIG. 3. The system 300, in one aspect includes twocomponents. The first is a depot 302. The depot or repository 302 is thepart of the overall system 300 that the user 308 interacts with. Througha user interface 304, having input components 312 such as a keyboard,mouse, multimodal input components, etc., the user deposits an item intoa drawer 306 which can be submitted into a receptacle or drawer 316. Forexample, a nurse 308 my deposit aspirin in the repository 302 to bedelivered to room A55. The repository 302 includes the ability toreceive the drawer 306 and position or move the drawer 306 into aparticular location and a bank or rack of drawers 318 that are part ofthe repository 302. The repository 302 can thus include a group ofdrawers or boxes, with each box 320 containing an item to be deliveredto a particular location. One benefit of this approach is that the user308 does not need to interact with the mobile robot 314 but only has asingle interactive location for delivering all kinds of items.Throughout the specification, the mobile robot 314 may also be referredto as simply the robot 314.

In one aspect, when using the asynchronous approach used herein, thestaff does not need to initiate a deposit of an item into theasynchronous delivery system 300 using the depot 302. Assume apharmacist has an item ready to deposit in the depot 302 for delivery,and is about to walk over to the depot 302. If the mobile robot 314 justhappens to be right next to the pharmacist at that time, the initialdeposit of the item could occur within a drawer 316 of the mobile robot314. A similar retrieval process could occur in which the item isidentified, the destination is established, and any data necessary todeliver the item is retrieved from the mobile robot 314. This could saveeven more time. This process could be initiated by a voice command fromthe pharmacist, an electrical signal from a mobile device managed by thepharmacist, a near field communication from a mobile device, or anyother initiation process in which the mobile robot 314 would initiate aprocess in which it acknowledges that it will be receiving an item fordelivery to another location. In this scenario, the mobile robot 314might deliver the item to the depot 302 for later retrieval from anotherrobot or the robot 314 may delivery the item itself.

The more standard application of the system 300 will be the staffdepositing items with the depot 302. The robot 314 will autonomouslyretrieve the boxes from the depot 302, while dropping off any deliveriesintended for that location. FIG. 4 illustrates a system 400 includingthe robot 314 and a swapping mechanism 402 which can both retrieve boxesfrom the repository 404, as well as deliver boxes from the set of boxes316 of the robot 314 to the repository 404.

It is understood that the “system” disclosed herein can include anyindividual component such as the repository or depot 302, 404, themobile robot 314, a server communicating with a depot or depots and/or amobile robot or robots, and/or a combination of both componentsoperating together. Any mechanical component which can be utilized tofulfill the functionality disclosed herein is included as part of thisdisclosure. For example, the particular structure of the repository 302,a particular structure of a box or drawer which can be swapped outbetween the mobile robot 314 and the repository 302 or 404 is alsoincluded. The swapping mechanism 402 can also be configured or createdwith different structures, or different mechanical capabilities, butwhich can still perform the basic functions of swapping boxes betweenthe mobile robot 314 and the repository 302, 404.

One example of the swapping mechanism 402 is shown in FIG. 4. Theswapping mechanism can include several components. An arm 414 can beconfigured to extend and retract the swapping mechanism 402 forexchanging drawers and/or batteries. In its retracted position, theswapping mechanism 402 could be folded and held within one of the drawerslots 316 of the mobile robot 314. The arm 414 can be used to extendengaging module 416 and the rotating tray 418. These are examplemechanisms, and by no means are meant to be exclusive of the type ofswapping mechanism that could be implemented. Engaging module 416 isused to retrieve a drawer from a depot (or repository) 404 (from one ofthe slots 406) and transport the drawer to one of the slots 316 of themobile robot 314. The depot 404 could be similar in structure to thedepot 302 shown in FIG. 3. The swapping mechanism 402 could of coursealso retrieve a drawer from the mobile robot 314, and deliver it to thedepot 404. The same swapping mechanism could be used, to retrieve andexchange batteries on the mobile robot 314. The rotating tray 418 can beused as a platform on which to retrieve a drawer from the depot 404 andthen rotate the drawer into a position to be inserted into a slot in themobile robot 314.

The arm 314 could also be positioned or operable to retract the swappingmechanism 402 such that it is flush with an exterior surface of themobile robot 314. The engaging module 416 can include a number ofdifferent types of structures for engaging with a drawer for retrievaland delivery. For example, engaging module 416 can use magnets, agrabbing mechanism, a snapping mechanism, a Velcro mechanism, suctioncups, a docking mechanism, or any other kind of mechanism that can beused to access and retrieve a drawer from a slot in the depot 404. Theswapping mechanism 402 could also be configured on the depot 404 insteadof the mobile robot 314. In another embodiment, part of the swappingmechanism could be in the depot 404 and part could be in the mobilerobot 314.

Each of the repository 404 and the robot 314 include a computerizedcontrol system which includes a processor, memory, bus, and othercomponents as shown in FIG. 1 for performing the asynchronous deliveryconcepts disclosed herein. Non-transitory computer readable storagedevices can store machine-readable instructions which, when executed bya processor, will perform the operations disclosed herein, and controlthe system and the mechanical components thereof.

Staff will be free to load and retrieve deliveries when convenientwithout interrupting their natural workflow, while robots 314 will beable to optimize their movement throughout the facility without havingto wait to be serviced by a staff member. The staff can load an item toeither the depot 404 or the mobile robot 314 as well as retrieve itemsfrom either the depot 404 or the mobile robot 314. With respect toretrieving an item directly from a robot, the system can track movementof individuals such as a doctor walking through the hallway. A mobilerobot 314 can be moving through the hallway and the system can identifythat a delivery of an item in one of the drawers of the robot is inprocess. For efficiency, the system can instruct the robot 314 todeliver the item directly to the doctor in the hallway rather thandelivering the item to a destination depot. The doctor could receive anotification on a mobile device that indicates that the medicine neededfor a particular patient is in the mobile robot 314 and the properdrawer can be opened such that the medicine can be efficientlyretrieved.

Another aspect of potential wasted time which can decrease efficiency isthe charging time for a battery on a robot 314. Another aspect of thisdisclosure includes the ability of robots 314 to be able to autonomouslyswap their batteries, eliminating the wasted time sitting on a chargerand significantly reducing battery weight and costs. In one aspect, therepository 404 can include in the lower portion, a battery chargingstation 408. The swapping mechanism 402 could also be used not only toswap boxes between the mobile robot 314 and the repository 302, 404, butcould also be configured to swap a battery from a lower portion 410 ofthe mobile robot 314. In this scenario, the mobile robot 314 will notneed to sit and charge battery for an extended period of time, but canmerely swap out a drain battery for a freshly charged battery. The robot314 could include a secondary battery which could be smaller than aprimary battery and which could be maintained for the purpose ofproviding the energy necessary for swapping out the primary battery.

In another example and instead of (or complimentary to) swappingbatteries, robots 314 can maintain an “inter-robot” communicationtherebetween (via an establishment's wireless network such as ahospital's wireless network) such that when a first robot 314 reaches aremaining power level that is less than a given threshold (which is aconfigurable parameter that can be adjusted based on experiments orempirical studies), a second robot 314 can approach and interface withthe first robot 314, obtain the load of first robot 314 together withinformation on first robot's pick and delivery schedules and assume theresponsibility for completing remaining scheduled tasks (deliveries andpickups) of first robot 314. The exchange of load between the firstrobot 314 and the second robot 314 can be via the first robot's or thesecond robot's corresponding swapping mechanism such as the swappingmechanism 402 described above.

Alternatively and instead of all robots communicating their power level(battery level) status among themselves (i.e., the “inter-robot”communication described above), there may be a “central controller”within a particular establishment (e.g., a central computer stationwithin a hospital facility) that continuously communicates with eachrobot 314 operating within the facility and monitors the power levelthereof. In other words, the “central controller” implements a fleetmanagement algorithm for robots 314 operating within the facility. Upondetecting that the power level of any robot 314 falls below theabove-described threshold, the “central controller” can send appropriatecommands and instructions to an available robot 314 to approach and takeover the load and the responsibility of completing the remaining task ofthe robot 314 whose power level has fallen below the threshold.

While FIG. 4 illustrates the position of the battery at the repository404, as being near the bottom, of course, the particular location of thebattery could be in any position in the repository 404 or in the mobilerobot 314. The battery could be also shaped like the box that is swappedbetween the repository 404 and the mobile robot 314. Thus, the swappingmechanism 402 could be the same for swapping boxes or batteries. One ortwo particular bays that are part of the group of bays was receivedboxes in the mobile robot 314 could be configured to receive a batterywhich can be used to run the mobile robot 314.

The asynchronous approach disclosed herein can also be complimentary toor even eliminate the need for pneumatic tube systems. While slower thana tube system for point to point deliveries, this system can handle amuch wider variety of locations and object weights and sizes without theexpensive and inflexible pneumatic tube infrastructure. In one aspect,the repository could receive a cylinder this delivered through apneumatic tube system. The repository 302 could be configured such thatusers deliver items for the repository 302 via a pneumatic tube system.In this case, the “boxes” would likely have a more cylindrical shape. Inthis scenario, the mobile robot 314 and the swapping mechanism 402 canbe modified for different shapes of boxes which need to be swappedbetween the repository 302 and the mobile robot 314. The system couldalso enable the swapping of containers of different sizes and shapesbetween the repository 302 and the mobile robot 314.

Another aspect of this disclosure is to quantify the benefits ofasynchronous over synchronous package delivery using simulation. Thebenefit of the asynchronous approach over synchronous robot use issimulated based on real hospital logistics data taken from currentlogistics robot use. The number of interruptions to staff, the amount ofwasted time for staff and the number of robots required is compared foreach scenario. In one aspect, machine learning can be used to utilizereal hospital logistics data from the existing logistics robot use, toseed machine learning algorithms which can then be implemented in anasynchronous retrieval and delivery system. The timing of robotic accessto items deposited within the repository 302 as well as the delivery ofthe items via the robot 314 can be controlled or guided by a machinelearning algorithm. For example, the real hospital logistics data canindicate that on the night of the Super Bowl sporting event that theneed for certain hospital supplies dramatically increases. The logisticsdata can track the movement of items throughout the hospital as well asstaff and robots. Based on the learning achieved by a machine learningalgorithm, the control of the repository 302 and the mobile robot 304can include one or more of the following parameters: (1) a timing ofwhen the mobile robot 314 picks up one or more items from a repository302; (2) a location within a bank of boxes within the repository 302 toposition a particular item or items (3); a route the mobile robot 314takes to retrieve items from a repository 302 or deliver items to adestination location; (4) pauses or stops along the way for a mobilerobot 314; (5) a speed or variable speed of the mobile robot 314; (6)morning sounds or communications from the mobile robot 314; (7)variations in menu systems presented to users or interacting with therepository 302 and/or a mobile robot 314; (8) which items to retrieve,from a bank of boxes in the repository 302, or which items to deliverfrom the mobile robot 314 to the bank of boxes 302; (9) whether themobile robot 314 will be used for direct retrieval and/or delivery ofitems to staff, and/or (10) whether to swap out a battery from themobile robot 314. Data for machine learning purposes can also includefeedback from users in hospitals, written surveys, interviews, andstudies of planned workflows. System 302/314 components will housesecure, swappable drawers and batteries as well as automated loading andretrieval mechanisms. For example, the Tote Retrieval System (TRS) byVecna Technologies could be utilized as the swapping mechanism betweenthe mobile robot 314 and the repository 302.

FIG. 5 illustrates the current state of the art with respect to deliveryand pickup timing. FIG. 5 shows synchronous deliveries which concentrateall loading/unloading to a single point, creating a bottleneck andwasting both human and robot time. In this example, the mobile robot 314will be loaded at a pharmacy with medicine and deliver the payload to adestination site. Time moves from left to right in this graphic. Thegraphic illustrates a synchronous workflow that requires more staffattention. The mobile robot 314 first goes to the pharmacy for loading502. Given the synchronous operation, when the robot arrives at thelocation 502, a staff person has to unload the items in the robot 314before it can move to its next delivery. This requirement representswasted time because staff individuals are pressed to perform theunloading at a time when they should be doing other things such asdirect patient care. A staff individual also is likely to load someitems into the robot 314 at that time. After the individual, thepharmacy loads the robot and unloads any items at that station, therobot then moves to the unloading destination 504, at which time anotherstaff individual at that location must unload the materials loaded atthe pharmacy 514. Again, this unloading requirement can be aninterruption to the staff individual's workflow.

FIG. 6 illustrates the innovation of a modular platform 600 independentdrawer swapping unit that overcomes the synchronous interruption issue.Delivery robots 314 travel between and automatically dock with the depot302. Drawers are swapped between the robot 314 and the depot 302. Humanscan load and unload items from depots 302 using an interface and attheir own schedule. Wireless communication with a hospital's computersystem directs the robot towards priority delivery locations. The robots314 can also have their own peer to peer scheduling approach. FIG. 6illustrates the robot 314 leaving a depot 302 after making an autonomousdelivery. The robot 314 interacts with the depot through retrieving anitem from a location 406 in the depot 302 and humans interact with thedepot 302 through the touch screen interface (e.g., touch screen 304described with reference to FIG. 3). An open box 406 is shown as part ofthe depot 302 ready to receive content. The box 406 generally representsthe approach to receiving items at the depot 302 for delivery by therobot 314. The box 406 would be closed, inserted into a bay or slotbehind the box 406, and a recipient and delivery time would be enteredinto a touchscreen at the depot 302. In the asynchronous naturalworkflow, the depot 302 could be provided at a pharmacy. Various storagebins such as boxes 406 are provided within the depot 302.

Feature 604 represents the asynchronous loading operations of thepharmacy into the depot 302. Pharmacists, lab technicians, and otherstaff will first authenticate using their facility's standard useridentification method (i.e., one or more of the following: barcoded ormagnetic cards, biometrics, passwords, RFID etc). Once identified to thesystem, the user will specify the destination and type of delivery.Based on this initial information, the depot 302 will select anappropriate drawer and retrieve it. Users then use a barcode scanner toscan each item before placing it in the compartments in the drawer 406.The depot 302 compiles a manifest for each drawer that lists its ID,items in the drawers, destination, and any special instructions fordelivery. Users enter these special instructions through the workflows.

Next, the user designates the delivery destination for individualcompartments or entire drawers. The depot 302 has a sorting mechanismthat routes the drawer to an appropriate position in the internalstorage and tracks this location in memory for later retrieval. The userinterface will also allow users to manually retrieve items from a drawerusing the same authentication and scanning process, providing humanoversight at both ends. The depot 302 then autonomously calls anavailable robot 314 to pick up the package(s) 316 and then will dropthem off in a depot at the destination location 602. Independent of thehuman workflows on either side of the delivery process, robots 314continuously pickup and transport deliveries between depots. Staff areautomatically notified (via email, text, page, DECT, etc) when items areavailable.

The destination depot 602 will receive the package 316 and store thepackage in the appropriate drawer 608 which then can be retrieved by astaff individual at the destination location 602. Feature 606 representsoutpatient depot unloads which can be asynchronous as well in the sensethat a staff member can unload particular items as needed, such that thestep individual is not required to unload items upon an arrival of therobot 314. Asynchronous deliveries allow staff to load and retrieveitems when convenient for them rather than being forced to do itwhenever a robot happens to arrive at their location.

Drawers for this system are configured for use by both humans androbots. A universal interface will allow both humans and the autonomousdrawer swapping apparatus to remove drawers from the cabinet and depot302 or from a respective robot 314. A secure electronic locking systemsafeguards each respective drawer contents and prevents unauthorizedaccess. Batteries for the mobile robot will have a similar form factorto the drawers such that the swapping apparatus can swap drainedbatteries with freshly charged batteries. In one aspect, each slot of adepot 302, which receives a drawer can be configured to receive andcharge a battery having a similar form factor as a drawer. An electricalfeed could be provided to each slot such that it can be convenient toremove the battery from the robot 314 and replace it with a chargedbattery. In the event that the robot's batteries are low on charge, therobot will indicate that it needs to swap batteries. The same swappingapparatus then retrieves a charged battery from the depot storage moduleand swaps it for the depleted battery on the robot; this depletedbattery is routed into the storage module and charged.

Autonomous battery swapping is an enabler for the proposed system. Itallows a hospital to use a single robot to provide continuous 24/7service where two robots are required otherwise. In multi-robotapplications, where an average eight-hour runtime requires a minimum ofa two hour charging period (25%), the increased robot requirement scaleswith the ratio of charge time to run time. Thus, an operation with 12continuously-operating battery-swapping robots would require at least 15conventionally re-charging robots. The battery swapping ability alsosignificantly reduces battery costs in two ways. First, since robots canswap batteries easily, batteries no longer need to be large enough torun continuously for long periods of times. Second, since the robotswill be able to use a battery optimally, and the batteries will be ableto charge optimally, longer battery life will be achieved, also reducingcost and waste.

FIG. 7 further illustrates the interaction of the depot 302 and therobot 314. The robot 314 utilizes a modular, platform-independentcabinet for mounting on the delivery robots. The number of availablebays 414 in the robot 314 for drawers is configurable based on the needsof the facility, the type of deliveries the robot will make, and thetype of robot used. The bays 414 can be consistent in theirconfiguration, or can vary. For example, the group of bays 414 mightinclude a set of large sized bays and a set of small size bays. Somedelivery items might need to have their own separate box and be storedin a separate bay from other items. Such items could be provided into abox of a smaller size within the description system. Loading andunloading of drawers from the cabinet in the robot 314 or in the depot302 is automated and requires no human intervention. However, staff maymanually access the contents of a drawer or remove it afterauthenticating through the touchscreen 412 and peripherals on board therobot 314. As noted above, for efficiency, a robot 314 may recognizethat a doctor or staff member that needs an item on-board that is beingdelivered to a destination depot is in the near vicinity of the robot314 and provide a direct delivery of the item, thus bypassing thedestination depot. A fleet of robots can continuously operate 24 hours aday, returning to the depots to swap out empty drawers forfull/partially full drawers.

The depot 302 features separate interfaces for humans 308 and robots314. The depot 302 consists of three modules: the user interface module304, which contains the touchscreen 314, peripherals 312, and manualloading bay 306; the rack modules 318 which house drawers 320; and thedrawer-swapping module 702. These interconnected modules rely on theinternal sorting mechanism that receives drawers through eitherinterface, routes them to the proper slot in the rack module 318, andstores them in one of the bays 320. The same mechanism also retrievesthe correct drawer from the storage rack modules and outputs it forhuman retrieval or automated swap with a drawer in the mobile cabinet onthe robot 314. The particular mechanical approach to physically movingdrawers from rack modules to and from the manual loading bay 306 of thedepot 302 can vary.

Robots 314 docks with the side of the depot 302 and communicates with itover the hospitals' wireless network 704 or directly to describe itscurrent payload (number of full drawers, number of empty drawers, anddestinations for each non-empty drawer). The network 704 can represent anumber of different components within the environment. It can representa wireless network, a server, a database, a routing management module asdiscussed below, or any other network-based component which interactswith one or both of the depot 302 or the robot 314 to facilitate theretrieval of items within drawers, the storage of drawers, the swappingof drawers between the depot 302 and the robot 314, and ultimatelydelivery of the respective drawer to its destination site.

The robot 314 could also communicate 706 directly with the depot 302 viaa near field communication, Bluetooth, or any other wireless protocol.The drawer swapping apparatus 402 then retrieves from the depot 302 anappropriate drawer (e.g., one going to the same destination as theothers in the robot's payload unit, or the next available drawer fordelivery) and swaps it with the empty drawers 414 on the robot 314. Thisprocess repeats until the robot has a set of full drawers (or there areno more full drawers available for delivery). Empty drawers are routedback into the storage modules.

Additional storage modules can be added to a depot 302 as needed tohouse a greater number of drawers 320. To minimize the footprint of thedepots 302, a depot may be installed flush with a wall. Additionally, ifthe robot's entry into a pharmacy or lab would be disruptive, the robotinterface for the depot may be located on the other side of a wall. Somedepots will service only a fraction of total traffic and thus may onlyneed one or two rack modules. Transfers can also occur between depots tobalance out stock levels between care units. When a robot 314 makes adelivery to a depot 302, it docks and indicates to the depot 302 whichdrawers are intended for that delivery. The depot exchanges thosedrawers for empty drawers in its own storage, or full drawers thatshould be transferred to other depots. The robot then continues to thenew delivery point.

There are number of decisions made between the depot 302 and robot 314,and alternately in connection with a processing system 704 associatedwith the hospital, that can be made based on machine learning andhistorical workflows. For example, one or more of the followingdecisions can be made based on machine learning or some other factor:(1) where to store drawers in a rack module 318, or on the robot 314;(2) whether to swap out a battery from the robot 314 while stationed ata depot 302; (3) which bay to store a battery in or which bay shouldreceive a battery for charging in the depot 302; (4) whether the robot314 needs to retrieve one or more drawers for movement to another depot302; (5) scheduling times for delivery, a speed of the robot 314, aroute of the robot 314, pauses or stops made by the robot 314; (6)whether a direct human retrieval or delivery of an item by the robot isexpected, scheduled, or not likely, and so forth.

In one aspect, a system 704 could include an intelligence routing anddelivery management module, which can schedule the movement of robots314 throughout the environment. For example, the routing module 704could receive expected routing paths for one or more robust 314 withtheir payloads and delivery destinations included within data providedto the routing module 704. The routing module 704 could receive dataabout other activity within the environment, such as scheduledsurgeries, scheduled patient movement, machine learning data on expectednew individuals to be received at the hospital, expected discharges ofpatients, and so forth. Outside data such as holiday schedules, weatherinformation, could be used as part of the machine learning algorithms.The routing module could then schedule the movement of a robot 314 withrespect to one or more of its location, expected activity along the pathof the route, expected individuals along that path (i.e., could therobot do a direct delivery to a doctor), and a particular timeassociated with the location. The routing algorithm 704 could divide upthe physical environment into individual components of varying sizes orslices and associate a time of day with each physical slice. The routingmodule 704 could include machine learning patterns of the use of eachindividual slice of physical space with respect to time. Thus, when therouting module 704 would receive a potential scheduled route for aparticular robot 314, which would place the robot, for example, in spaceslice 58 at time 11:32 AM, the system can determine that there is alikely chance of that space being occupied by a patient, another robot,or an individual. The system could determine the likelihood of a personwho wants a delivery to be at that location. Thus, the routing manager704 could adjust the movement of the robot 314 such that a collision orinterruption is less likely at any given space slice within theenvironment as well as providing a potential direct delivery of an itemto a recipient staff member without the need of delivering the item tothe destination depot.

When making such routing decisions with respect to the movement of arobot 314 through the environment, the routing management module 704could also utilize a priority of payload on the robot 414. For example,one drawer may include surgical instruments that need to be at aparticular surgery at a particular time with a high priority. Anotherdrawer may include aspirin to be delivered to a particular destinationfor ensuring that an aspirin supply is sufficient. The aspirin deliverymay be merely for backup and have a lower priority than the surgicalinstruments. The routing of the robot 314 can thus be based at least inpart on a priority of any individuals respective items within a drawer,a pathway to a destination for each respective drawer, a priorityindicated by a user, a modified priority based on data received after anitem is retrieved by the mobile robot 314, and so forth. For example, abox of surgical instruments may be retrieved by the robot 3144 deliveryat a surgical destination for a surgery scheduled for the next day. Thedelivery may have a medium level priority inasmuch as the surgery isstill twenty-four hours away. However, if an emergency happens and thesurgery gets moved up to the current day, a notification to go to therouting manager 704 which can change the priority of that delivery toimmediate or high-priority delivery. In such case, the movement of therobot 314 would be modified such that the surgical instruments would bedelivered next, in preparation for the surgery.

Thus, routes for the robot 314 can be static or may be dynamic andadjustable based on current conditions or trigger actions which cancause a change in the route, speed, priority, or other parameterassociated with the robot 314. The route can be established and set(i.e., static) before the route is taken by the robot such that thesystem can expect a certain timing and route taken throughout thedelivery. Or, in another aspect, the system can dynamically adjust theroute based on new data received. The change in the route of one robot314 can also trigger an alteration of routes of one or more other robotsas well. Such a change can also cause other events or movement withinthe hospital to be adjusted as well. For example, in a more completesystem management, other adjustments such as surgical times, dooropening timings, staff movement, elevator speeds, elevator managementand so forth could also be incorporated into the movement of robots 314and the routing of robots 314 throughout the environment for increasedefficiencies. For example, if a robot 314 has an urgent set of surgicalinstruments to be delivered, the system 704 can cause an elevator tostop at a proper timing on the right floor to pick up the robot anddeliver the robot to the destination floor with reduced delay or on adifferent floor schedule than entered in my staff or humans riding theelevator.

Analysis of the environment to achieve machine learning models or otherdata which can be utilized to deliver items through the depot/robotsystem can include prepared delivery data from a facility that will befed into a simulation for each scenario. Part of the data preparationcan include estimating some factors such as the time when items wereactually ready to be loaded versus when the items were loaded into therobot 314. The analysis can be done with a mathematical model based onstaff observations and feedback to find the appropriate range, and arandom distribution will be used to augment the data.

Setting up a simulation of items being delivered through the environmentcan include modeling the environment with accurate dimensions, realisticpackage distribution, pick-up and drop-off locations, known constraints,elevator movement, door opening timings, surgical schedules, and anunderstanding of traffic patterns for the robots 314. Collaborators canprovide data from existing delivery robots and details necessary toensure that the environment modeled in the simulator is correct. Thesimulation can be validated by modeling current live workflows atcollaborators' facilities using synchronously or asynchronouslytransported materials to establish a benchmark to compare against theimproved solution. Running a scenario can consist of executing multipleiterations where various parameters will be adjusted such as number ofrobots used, average speeds, and fleet management configurations. Themachine learning models can eventually predict patterns of usage whichcan be utilized to schedule movements of robots 314 throughout theenvironment. The evaluation of a scenario can consist of reviewing eachiteration against a set of metrics that the team and collaborators agreeupon, such as whether the scenario was able to meet or exceed thedesired throughput, the average delivery time of packages, and number oftimes and durations that staff interact with different parts of thesystem.

For each scenario, a comparison can be made of staff interruptions,staff wasted time and the minimum number of robots required whenutilizing robots in a traditional manner with synchronous delivery, andwhen utilizing robots with the battery- and box-swapping technology for24/7 asynchronous delivery. The results can be analyzed to test thehypothesis that see if the system would offer hospitals a significantbenefit over the current approach. The new depot/robot system reducesinterruptions, decreases non-productive time for staff, and allowsrobots to be productive 24/7, requiring fewer robots to achieve the samethroughput thus lowering the barriers to adoption.

More precision is required when aligning a robot 314 with the depot 302to successfully swap boxes. Special alignment features are included inthe depot 302 that can achieve needed accuracy. The swapping mechanismcan require both horizontal and vertical motion such that boxes can beretrieved from different rows or different columns of the rack module318. It is important that the depots be as thin and unobtrusive aspossible to allow for easy installation in locations throughout existingfacilities. Alternative mechanisms will be explored as necessary toachieve the goals. Common items needing to be delivered might somehow beincompatible with a secure box approach in size, weight, orenvironmental requirements. Thus, in one aspect of this disclosure, theboxes are designed to come in a variety of sizes and/or shapes.Refrigeration or other environmental controls may also be required. Inone aspect, boxes can be configured to connect to a power supply was inthe rack module 318. The box may have heating and/or air conditioningcomponents which can be turned on or off based on the requirements ofitems within a respective box.

As noted above, while the hospital example is straightforward andunderstandable, the scope of this disclosure is certainly beyond ahospital application. A warehouse, a department store, a grocery store,a bank, or any kind of industry in which items need to be delivered fromone location to another, can utilize the principles disclosed herein.

FIGS. 8-10 illustrate other aspects of the system. The system 800 shownin FIG. 8 includes a depot 302 having a depot user interface 304, a rackmodule 318 that houses drawers 808, a battery 816, a depotdrawer-swapping module with a control system and a depotbattery-swapping module with the control system 802, a power supply 804.Module 802 in FIG. 8 represents the drawer-swapping module, thebattery-swapping module and the control system. The depot control system802 connects to and controls the depot user interface 304, the rackmodule 318, the depot battery-swapping module and the depotdrawer-swapping module. Feature 806 represents the depot 302 providingpower to each slot in the rack module 318. In this way, each slot caneither hold a regular drawer with items or a battery for charging.

A mobile robot 314 includes several components represented by module812. This includes a mobile drawer-swapping module 812, a mobilebattery-swapping module 812, a user interface 412, and a mobile controlsystem 812 that connects and controls the mobile drawer-swapping moduleand the mobile battery swapping module. The robot 314 also includes amotor in communication with the control system 812 for moving the robot314 to its designated locations. The depot 302 and the mobile robot 314function in a coordinated manner to provide an asynchronous itemdelivery system. The depot 302 and the robot 314 perform operationsincluding one or more of receiving, at the depot 302 and via the depotuser interface 304, a specification by a user of a destination depot andan item for delivery to yield item delivery data, selecting, based onitem delivery data and the by the depot control system 802, a drawer 808from the rack module 318 that houses drawers, receiving the item in thedrawer, communicating, from the depot 302 and to the mobile robot 314, amessage to pick up the item, swapping a first battery 820 on the mobilerobot 314 with a second batter 816 charged by the depot 302 via thedepot battery-swapping module and transferring the item from the drawer808 in the depot 302 to a drawer 818 in the mobile robot 314 using thedepot drawer-swapping module 802 and the mobile drawer-swapping module812 and delivering, by the mobile robot 314 using its motor 810, theitem to the destination depot.

The depot 302 can include power 804 provided to each slot in the rackmodule 318. Power can be supplied via charge providingconnection(s)/power outlet(s) 806 to any one or more slot in the rackmodule 318. FIG. 8 shows a battery 816 in a lower slot of the rackmodule 318. However, given the asynchronous nature of the access anddelivery system, it can be desirable to enable flexibility in which abattery could be deposited in any slot within the rack module 318 forcharging. Accordingly, the rack module 318 can be configured withdedicated slots for battery charging or can provide power to every slot(via one or more charge providing connections 806) such that there isflexibility in depositing a low battery and any slot for charging. Aserver 822 can be used to communicate with the various components of thesystem to coordinate the supply chain process and manage the movement,receipt, and delivery of items throughout the environment. The system822 can also communicate with outside sources of data such as wholesaleproviders of items such as medicine and surgical instruments such thatscheduling can even occur on a larger time scale. For example, thesystem 822 can receive information that a delivery of aspirin scheduledor expected on Tuesday is going to be delayed until Thursday. Suchinformation from an external source and related to an item that movesthrough the supply chain can cause scheduling algorithms to makeadjustments to one or more of a mobile robot route, an asynchronousdelivery or pickup schedule, or other components and scheduled itemswithin the hospital environment.

FIG. 9 illustrates components 900, which include a slot 902 shown withpower outlet 806 available to charge battery 904 which has itscorresponding power component 906. FIG. 9 illustrates that the battery904 can have a configuration that is similar to a drawer configurationsuch that it would fit in any slot 902 within the rack module 318. Thus,in one aspect, a battery swapping module 812 and a drawer swappingmodule 812 can essentially be the same module on the mobile robot 314.The mechanical structure of the swapping module 812 can be the same ifthe drawer configuration and the battery configuration are the same oressentially the same.

This disclosure presents another discussion of the system with referenceto FIGS. 8 and 9. In one aspect, the “system” can refer to anasynchronous item delivery system including a depot 302 having a depotuser interface 304, a rack module 318 that houses drawers 808, a depotdrawer-swapping module 802, a depot battery-swapping module 802 and adepot control system 802 that connects to and controls the depot userinterface 304 and the rack module 318, the depot battery-swapping moduleand the depot drawer-swapping module. In one aspect, the depotdrawer-swapping module 802 includes features such as the control system802 as well as the configuration of the drawer 808, the configuration ofthe rack module 318 that stores the drawers, and the mechanicalcapabilities to enable a component of the mobile robot 314 to be able toretrieve a drawer 808 from the rack module 318.

In one aspect, a mechanical arm or drawer swapping module 402 isconfigured within the mobile robot 314. However, it is noted that themechanical components for swapping a drawer from the depot 302 to themobile robot 314 can also be configured within the depot 302. In thisregard, within the depot, the depot drawer-swapping module 802 couldinclude all of the mechanical components necessary to transition adrawer 8 await from the rack module 318 of the depot 302 to a receivingslot 818 within the mobile robot 314.

The an asynchronous item delivery system can include a mobile robot 314including a mobile robot drawer-swapping module 402, a mobile robotbattery-swapping module 402 and a mobile control system 812 thatconnects and controls the mobile robot drawer-swapping module 402 andthe mobile robot battery-swapping module 402. The depot 302 and themobile robot 314 can operate in a coordinated manner to asynchronouslydeliver an item from the depot 302 to a destination depot by performingoperations including receiving, at the depot 302 and via the depot userinterface 304, a specification by a user of the destination depot andthe item to yield item delivery data, selecting, based on item deliverydata and the by the depot control system 802, a drawer 808 from the rackmodule 318 that houses drawers, receiving the item from the user via thedepot user interface 304, communicating the item to the drawer 808within the rack module 318 that houses drawers, communicating, from thedepot 302 and to the mobile robot 314, a message to pick up the item,swapping a first battery 808 on the mobile robot 314 with a secondbatter 816 charged by the depot 302 via the depot battery-swappingmodule 402 and the mobile robot battery-swapping module 402,transferring the item from the drawer 808 in the depot 302 to the mobilerobot 314 using the depot drawer-swapping module and the mobile robotdrawer-swapping module and delivering, by the mobile robot 314, the itemto the destination depot. A similar process can also occur if a mobilerobot 314 is receiving an item into the supply chain process fordelivery. In this case, the item would be directly placed within adrawer and thus no drawer swapping would have to occur. In thisscenario, the user can become familiar with the fact that whether at adepot or at a mobile robot, any depot of an item within a supply chaindevice will cause the item to be delivered.

The mobile robot battery-swapping module and the mobile robotdrawer-swapping module can both be described as associated with feature402 in connection with the control system 812 of the mobile robot. Inone aspect, the same mechanical components 402 can retrieve and exchangeboth drawers and batteries in the scenario where drawers and batterieshave a similar configuration. In another aspect, separate mechanicalcomponents could be utilized to separately manage the swapping ofdrawers versus the swapping of batteries. The advantage of using thesame mechanical component 402 for swapping is simplicity of design.However, if a separate mechanical component is configured forrespectively swapping drawers versus swapping batteries, then, theinterface between the depot 302 and the mobile robot 314 in which theexchanges are taking place can be configured such that a drawer swap anda battery swap can simultaneously occur. This can speed up efficiency ofthe docking of the mobile robot 314 with the depot 302.

The asynchronous item delivery system includes a user interface 304 orcomponent that is used to scan the item before receiving the item in thedrawer 808. The user interface 304 can include a receiving component 306that physically receives the item from the user 308. The asynchronousitem delivery system preferably compiles a manifest for each drawer inthe rack module 318 that houses the drawers. The manifest can includeone or more of an identification of the drawer, items in the drawer, thedestination, and instructions for delivery of the item. After receivingthe item in the drawer 202/304, the depot 302 routes the drawer to achosen position in the rack module 318 in preparation for retrieval bythe mobile robot 314. The depot 302 can either receive the item andconvey the item to a drawer 808, or can physically move the drawer to aposition where the item can to be deposited therein in the drawer can betransitioned to a slot within the rack module 318. A similar manifest isgenerated when a user deposits an item with the mobile robot 314 fordelivery.

The asynchronous item delivery system can deliver, by the mobile robot314, the item to the destination depot using machine learning toschedule one of a route, a timing and a pace of delivering the item tothe destination depot. For example, a server 822 can receive data fromone or more of respective depots 302 mobile robots 314, and any otherdata with respect to the environment in which the mobile robot 314 mustnavigate to deliver the items or items. That data can be processed inthe machine learning manner such that patterns and expectations can bedeveloped in a routing model of the environment. As noted above, athree-dimensional physical box of space within the environment can beassociated with a particular timeslot as well. A monitoring system couldbe deployed, which detects motion, movement, heat, electromagneticenergy, and so forth, to model each box of space relative to aparticular time. Such modeling of the use of each respective boxes spaceper unit time in order to provide training data to a machine learningalgorithm, which can then be utilized to schedule a timing, a routes,and any other characteristic associated with delivering an item via themobile robot 314. The algorithm can also be used to manage componentswithin the environment that the mobile robot 314 moves through foradditional efficiencies. Thus, elevators, doors, escalators, lights, andso forth could be modified to aid in moving the mobile robot 314 throughthe environment for delivery or retrieval of items.

The asynchronous item delivery system can also include a second mobilerobot for asynchronously delivering a second item. More than two mobilerobots can also be deployed within the system and asynchronous mannerfor further efficiencies. In one aspect, one or more robots may beconfigured to operate in a synchronous manner, while others operate inan asynchronous manner, with an overall ecosystem. In another aspect,multiple mobile robots can be configured to operate in an independentmanner, or in a coordinated manner via a centralized system 822.

FIG. 10 illustrates a top view of the depot 302. FIG. 10 will illustratean example depot drawer swapping module 1006. When an individualdeposits an item into the depot 302, individual can interact with theuser interface and scan or identify the item and then receive the itemin a receiving module 306. A control unit 802 can control the electricaland mechanical activities of the depot 302. Having identified the item,the depot 302 can receive the item into an input portal 306 for placingwithin a drawer 1002. Whether the depot 302 receives the drawer with theitem already placed within it or receives the item, and causes the itemto be deposited within drawer 1002, is immaterial to the presentdisclosure. Either configuration would work. Once the item is configuredin a drawer 1002, the depot 302 must physically move the drawer 1002into an appropriate position within the rack module 318. Component 1004represents a depot drawer swapping module that enables the drawers to bemoved between the user interface location and the input portal 306 andpositions or slots within the rack module 318. Drawer 1002 is shown asmoving from the input portal 306 to be positioned 1006 to be placedwithin a slot of the rack module 318. Drawer 1006 is shown as being inthe position to move to or from the rack module 318 and to be able tomove along the depot drawer swapping module 1004 from a slot within therack module 318 towards the input portal 306 for providing the item to auser. While FIG. 10 represents a top view of the depot 302, it should beunderstood that the depot drawer swapping module 1004 can move drawersvertically as well as horizontally such that they can be positionedwithin an appropriate slot of the rack module 318, or retrieved from aparticular slot in the rack module 318. Box 1008 is shown as beingwithin a slot of the rack module 318, but movable or retrievable by thedepot drawer swapping module 10044 moving either to another slot or forpositioning at the port 306 for retrieval by a user.

The system can compile a manifest for each drawer in the rack module 318that houses the drawers. The manifest can include one or more of anidentification of the drawer, items in the drawer, the destination, andinstructions for delivery of the item. After receiving the item in thedrawer 1002, the depot 302 routes the drawer 1002 to a chosen positionin the rack module 318 in preparation for retrieval by the mobile robot314.

It is noted that embodiments of this disclosure can be provided in avariety of configurations. For example, one embodiment could simply bethe depot 302 and its structure and functionality. In this embodiment,claims to be directed to one or more of the steps taken by the depot 302to retrieve items, to manage the positioning of the items in respectivedrawers that are positioned within a slot of the rack module 318, andthen to deliver the drawers to a mobile robot 314 an asynchronousmanner, including the charging and delivery of a battery to the mobilerobot 314. This embodiment can include any communication from the depot302 to a separate device, including but not limited to the mobile robot314, as well as any communication received from a separate entity at thedepot 302 for performing the functions disclosed herein.

Similarly, another embodiment could be from the standpoint of the mobilerobot 314. This embodiment would include the structure and operationsfrom the standpoint of the mobile robot 314 only, such as receivingcommunication about a deposited item, physically moving the mobile robot314 to a designated depot, utilizing a mobile robot drawer swappingmodule to retrieve a drawer containing the deposited item, placing thedrawer in a slot in a rack module associated with the mobile robot 314,and delivering the drawer to a destination depot such that the mobilerobot drawer swapping module retrieves the drawer from the rack moduleassociated with the mobile robot 314 and deposits the drawer in a sloton a destination depot 302. Steps from the standpoint of the mobilerobot 314 can also include delivering a battery from the mobile robot314 from a slot in the rack module 318 of the depot 3024 charging andretrieving a charged battery from the depot 302 for use in running themobile robot 314.

In an embodiment in which the mobile robot 314 can retrieve items from auser, the steps performed by the mobile robot 314 can include receivingan item into a drawer of the mobile robot 314 and receiving andrecording data about a destination for the item, an identification ofthe item, and so forth. The mobile robot can then deliver the item toanother individual directly or deliver the item to a destination depot.

The “system” disclosed herein can come in various forms. For example,one embodiment disclosed above defines the system as including one ormore of a depot 302, a server 822, and a mobile robot 314. However,these different components may be provided by different companies.Accordingly, the “system” can be defined from the individual standpointof the depot 302, a server 822, or from the individual standpoint of themobile robot 314. The system from the standpoint of the server 822 caninclude the communications to and from the various components to providecontrolling instructions about the efforts between the depot 302 and themobile robot 314 to manage the supply chain. When an embodiment (method,system, or computer-readable storage device) is claimed from anystandpoint disclosed herein, all of the steps, communications,instructions, and/or operations are performed from the spent standpointof the respective system for the respective components.

In another aspect, the depot 302 could be configured in a different way.For example, a user interface would be configured such that the usercould enter data about an item, scan the item, and the depot 302 couldhave a module that causes each drawer to open up from its slot andreceive directly into the drawer from the user, in the assigned slot,the item for later retrieval and delivery by the mobile robot. Weightscales could be deployed as well to weigh the items and if the weight ofthe retrieved item is consistent with what is expected, then the item isconfirmed. If there is a discrepancy between the weight and the expectedweight, an alert can be provided to confirm that the item is the properitem.

FIGS. 11-13 illustrate method embodiments beginning with a method inFIG. 11 which describes the steps that occur for the asynchronous itemdelivery system which encompasses both the depot 302 and a mobile robot314, as well as potentially the server 822. The method includesreceiving, at a depot and via a depot user interface, a specification bya user of a destination depot and an item to yield item delivery data(1102), receiving, at a depot and via a depot user interface, aspecification by a user of a destination depot and an item to yield itemdelivery data (1104), selecting, based on item delivery data and by adepot control system, a drawer from a rack module in the depot thathouses drawers (1106) and receiving the item from the user via the depotuser interface (1108). The item can be received into a drawer directlyfrom the user, or can be received into a receiving mechanism which canthen transport the item within the depot 302 to a drawer within a rackof drawers.

The method includes communicating the item to the drawer within the rackmodule that houses drawers (1110), communicating, from the depot and toa mobile robot, a message to pick up the item (1112), swapping a firstbattery on the mobile robot with a second batter charged by the depotvia a depot battery-swapping module and a mobile robot battery-swappingmodule (1114), transferring the item from the drawer in the depot to themobile robot using a depot drawer-swapping module and a mobile robotdrawer-swapping module (1116) and delivering, by the mobile robot, theitem to the destination depot (1118).

FIG. 12 illustrates a method embodiment from the standpoint of the depot302 in the functionality only occurring or being performed by componentsof the depot 302. The method includes receiving, at a depot and via adepot user interface, a specification by a user of a destination depotand an item to yield item delivery data (1202), receiving, at a depotand via a depot user interface, a specification by a user of adestination depot and an item to yield item delivery data (1204),selecting, based on item delivery data and by a depot control system, adrawer from a rack module in the depot that houses drawers (1206) andreceiving the item from the user via the depot user interface (1208).The item can be received into a drawer directly from the user, or can bereceived into a receiving mechanism which can then transport the itemwithin the depot 302 to a drawer within a rack of drawers.

The method includes communicating the item to the drawer within the rackmodule that houses drawers (1210), communicating, from the depot and toa mobile robot, a message to pick up the item (1212), receiving a firstbattery from the mobile robot (1214), providing a second batter chargedby the depot via a depot battery-swapping module and a mobile robotbattery-swapping module to the mobile robot (1216), transferring theitem from the drawer in the depot to the mobile robot using a depotdrawer-swapping module and a mobile robot drawer-swapping module (1218)wherein the item can be delivered by the mobile robot to the destinationdepot.

The aspect of this disclosure of swapping, a battery can be part of thebasic exchange between the depot 302 and the mobile robot 314. Thebattery swapping step is a valuable feature in that it can enable theasynchronous workflow, but it is an optional feature.

FIG. 13 illustrates an embodiment from the standpoint of the mobilerobot 314. The method includes receiving at a mobile robot acommunication from a depot that an item has been received from a user atthe depot and stored in a drawer within the depot (1302), moving to aswapping position relative to the depot (1304), swapping a first batteryon the mobile robot with a second batter charged by the depot via adepot battery-swapping module and a mobile robot battery-swapping module(1306), transferring the item from the drawer in the depot to the mobilerobot using a mobile robot drawer-swapping module (1308) and deliveringthe item to the destination depot (1310). As noted above, one aspect ofthe process from the standpoint of the mobile robot 314 can also includereceiving an item from a user at the mobile robot 314 for deliveryand/or delivering the item to a user directly from the mobile robot 314independent of the use of an origination or a destination depo.

In some embodiments the computer-readable storage devices, mediums, andmemories can include a cable or wireless signal containing a bit streamand the like. However, when mentioned, non-transitory computer-readablestorage media expressly exclude media such as energy, carrier signals,electromagnetic waves, and signals per se.

Methods according to the above-described examples can be implementedusing computer-executable instructions that are stored or otherwiseavailable from computer readable media. Such instructions can comprise,for example, instructions and data which cause or otherwise configure ageneral purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.Portions of computer resources used can be accessible over a network.The computer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, firmware, orsource code. Examples of computer-readable media that may be used tostore instructions, information used, and/or information created duringmethods according to described examples include magnetic or opticaldisks, flash memory, USB devices provided with non-volatile memory,networked storage devices, and so on.

Devices implementing methods according to these disclosures can comprisehardware, firmware and/or software, and can take any of a variety ofform factors. Typical examples of such form factors include laptops,smart phones, small form factor personal computers, personal digitalassistants, rackmount devices, standalone devices, and so on.Functionality described herein also can be embodied in peripherals oradd-in cards. Such functionality can also be implemented on a circuitboard among different chips or different processes executing in a singledevice, by way of further example.

The instructions, media for conveying such instructions, computingresources for executing them, and other structures for supporting suchcomputing resources are means for providing the functions described inthese disclosures.

Although a variety of examples and other information was used to explainaspects within the scope of the appended claims, no limitation of theclaims should be implied based on particular features or arrangements insuch examples, as one of ordinary skill would be able to use theseexamples to derive a wide variety of implementations. Further andalthough some subject matter may have been described in languagespecific to examples of structural features and/or method steps, it isto be understood that the subject matter defined in the appended claimsis not necessarily limited to these described features or acts. Forexample, such functionality can be distributed differently or performedin components other than those identified herein. Rather, the describedfeatures and steps are disclosed as examples of components of systemsand methods within the scope of the appended claims.

Claim language reciting “at least one of” refers to at least one of aset and indicates that one member of the set or multiple members of theset satisfy the claim. For example, claim language reciting “at leastone of A and B” means A, B, or A and B.

What is claimed is:
 1. A mobile robot comprising: a mobile robotdrawer-swapping module; and a mobile control system that connects andcontrols the mobile robot drawer-swapping module, wherein the mobilerobot operates in a coordinated manner with a depot to asynchronouslydeliver an item from the depot to a destination depot by the mobilerobot performing operations comprising: receiving, from the depot, amessage to pick up an item, the item deposited in a drawer of the depot,wherein the depot received a specification by a user of the destinationdepot and the item; receiving, based on the message, a transfer of theitem from the drawer of the depot to the mobile robot via a depotdrawer-swapping module and the mobile robot drawer-swapping module; anddelivering the item to the destination depot.
 2. The mobile robot ofclaim 1, wherein the depot scans the item before receiving the item inthe drawer.
 3. The mobile robot of claim 1, wherein delivering, by themobile robot, the item to the destination depot is performed usingmachine learning to schedule one of a route, a timing and a pace ofdelivering the item to the destination depot.
 4. The mobile robot ofclaim 1, further comprising a mobile robot battery swapping module,which when instructed by the mobile control system, is configured toswap a first battery on the mobile robot with a second charged batteryfrom the depot when the first battery has a charge level that is lessthan a threshold.
 5. The mobile robot of claim 1, further comprisingreceiving a manifest for each drawer in a rack module of the depot thathouses the drawers.
 6. The mobile robot of claim 5, wherein the manifestcomprises one or more of an identification of the drawer, items in thedrawer, the destination depot, and instructions for delivery of theitem.
 7. The mobile robot of claim 5, wherein the depot, after receivingthe item in the drawer, routes the drawer to a chosen position in therack module in preparation for retrieval by the mobile robot.
 8. Amethod comprising: receiving, at a mobile robot and from a depot havinga rack module that houses drawers, a message to pick up an item within adrawer of the drawers, wherein the depot received the item from a userand wherein the user specified a destination depot of the item;receiving a transfer of the item from the drawer of the depot using adepot drawer-swapping module and a mobile robot drawer-swapping module;and delivering the item to the destination depot.
 9. The method of claim8, wherein the depot scans the item before receiving the item in thedrawer.
 10. The method of claim 8, further comprising receiving amanifest for each drawer in the rack module that houses the drawers, themanifest comprising one or more of an identification of the drawer,items in the drawer, the destination depot, and instructions fordelivery of the item.
 11. The method of claim 8, further comprising:determining that a charge level of a first battery installed in themobile robot is less than a threshold; and swapping the first batterywith a second charged battery in the depot.
 12. The method of claim 8,wherein the depot, after receiving the item in the drawer, routes thedrawer to a chosen position in the rack module in preparation forretrieval by the mobile robot.
 13. The method of claim 8, whereindelivering, by the mobile robot, the item to the destination depot isperformed using machine learning to schedule one of a route, a timingand a pace of delivering the item to the destination depot.
 14. A mobilerobot comprising: a processor; and a computer-readable storage devicestoring instructions which, when executed by the processor, cause theprocessor to perform operations comprising: receiving a message to pickup an item stored at a depot having a rack module that houses drawerswith respective items, in which a user provided the item to the depotwith a specification of a destination depot for the item; and receivingthe item, from a drawer of the drawers, at the mobile robot using adepot drawer-swapping module and a mobile robot drawer-swapping module,wherein the mobile robot is configured to deliver the item to thedestination depot.
 15. The mobile robot of claim 14, wherein the depotscans the item before receiving the item in the drawer.
 16. The mobilerobot of claim 14, wherein the computer-readable storage device storesadditional instructions which, when executed by the processor, cause theprocessor to perform operations comprising: after receiving the item inthe drawer, routing the drawer to a chosen position in the rack modulein preparation for retrieval by the mobile robot.
 17. The mobile robotof claim 14, wherein delivering, by the mobile robot, the item to thedestination depot is performed using machine learning to schedule one ofa route, a timing and a pace of delivering the item to the destinationdepot.
 18. The mobile robot of claim 14, wherein the operations furthercomprise: receiving a message from the mobile robot indicating that arequest for battery swap; and instructing a first battery-swappingmodule of the depot to interact with a second battery-swapping module ofthe mobile robot to swap a first charged battery available at the depotwith a second battery inside the mobile robot having less than athreshold charge remaining.
 19. The mobile robot of claim 14, whereinthe computer-readable storage device stores additional instructionswhich, when executed by the processor, cause the processor to performoperations comprising: receiving at the mobile robot a manifest for eachdrawer in the rack module that houses the drawers.
 20. The mobile robotof claim 19, wherein the manifest comprises one or more of anidentification of the drawer, items in the drawer, the destinationdepot, and instructions for delivery of the item.